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<a href="_servo_ctrl_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">// ServoCtrl.h </span>
<a name="l00002"></a>00002 <span class="comment">// Copyright (C) 2011</span>
<a name="l00003"></a>00003 <span class="comment">//</span>
<a name="l00004"></a>00004 <span class="comment">// This program is free software; you can redistribute it and/or</span>
<a name="l00005"></a>00005 <span class="comment">// modify it under the terms of the GNU General Public License</span>
<a name="l00006"></a>00006 <span class="comment">// as published by the Free Software Foundation; either version 2</span>
<a name="l00007"></a>00007 <span class="comment">// of the License, or (at your option) any later version.</span>
<a name="l00008"></a>00008 
<a name="l00009"></a>00009 <span class="comment">// This program is distributed in the hope that it will be useful,</span>
<a name="l00010"></a>00010 <span class="comment">// but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00011"></a>00011 <span class="comment">// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span>
<a name="l00012"></a>00012 <span class="comment">// GNU General Public License for more details.</span>
<a name="l00013"></a>00013 
<a name="l00014"></a>00014 <span class="comment">// You should have received a copy of the GNU General Public License</span>
<a name="l00015"></a>00015 <span class="comment">// along with this program; if not, write to the Free Software</span>
<a name="l00016"></a>00016 <span class="comment">// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.</span>
<a name="l00017"></a>00017 
<a name="l00018"></a>00018 
<a name="l00027"></a>00027 
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef SERVOCTRL_H_</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define SERVOCTRL_H_</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="comment">// #include &quot;lpc17xx_pinsel.h&quot;</span>
<a name="l00032"></a>00032 <span class="comment">// #include &quot;lpc17xx_gpio.h&quot;</span>
<a name="l00033"></a>00033 <span class="comment">// #include &quot;lpc17xx_timer.h&quot;</span>
<a name="l00034"></a>00034 
<a name="l00036"></a><a class="code" href="_servo_ctrl_8h.html#a4259c40a55e489ed25c9f3cbb3be05ab">00036</a> <span class="preprocessor">#define MAX_SERVOS 8</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span>
<a name="l00039"></a><a class="code" href="struct_servo__t.html">00039</a> <span class="keyword">struct </span><a class="code" href="struct_servo__t.html" title="Servo_t specifies port and pulse length for a single servo output.">Servo_t</a> {
<a name="l00040"></a>00040         uint8_t port;
<a name="l00041"></a>00041         uint8_t bit;
<a name="l00042"></a>00042         uint32_t pulseLength;
<a name="l00043"></a>00043         uint8_t used;
<a name="l00044"></a>00044 };
<a name="l00046"></a><a class="code" href="struct_servo_ctrl__t.html">00046</a> <span class="keyword">struct </span><a class="code" href="struct_servo_ctrl__t.html" title="servo specification array">ServoCtrl_t</a> {
<a name="l00047"></a><a class="code" href="struct_servo_ctrl__t.html#aa2cbd923141638cd8fb081033ac26f73">00047</a>         <span class="keyword">struct </span><a class="code" href="struct_servo__t.html" title="Servo_t specifies port and pulse length for a single servo output.">Servo_t</a> <a class="code" href="struct_servo_ctrl__t.html#aa2cbd923141638cd8fb081033ac26f73" title="servo channel 1 to n">channel</a>[<a class="code" href="_servo_ctrl_8h.html#a4259c40a55e489ed25c9f3cbb3be05ab" title="maximum number of servo output signals">MAX_SERVOS</a>];     
<a name="l00048"></a><a class="code" href="struct_servo_ctrl__t.html#a1aa324bdc1e9c677921b57d77ccb719a">00048</a>         uint32_t <a class="code" href="struct_servo_ctrl__t.html#a1aa324bdc1e9c677921b57d77ccb719a" title="number of servos">maxIndex</a>;                                      
<a name="l00049"></a><a class="code" href="struct_servo_ctrl__t.html#ae90fea6bbfff47fb85b470629d932040">00049</a>         uint32_t <a class="code" href="struct_servo_ctrl__t.html#ae90fea6bbfff47fb85b470629d932040" title="index for servo array">idx</a>;                                           
<a name="l00050"></a>00050 };
<a name="l00051"></a>00051 
<a name="l00052"></a>00052 <span class="preprocessor">#ifndef SERVOCTRL_C_</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="keyword">volatile</span> <span class="keyword">struct </span><a class="code" href="struct_servo_ctrl__t.html" title="servo specification array">ServoCtrl_t</a> ServoArray;
<a name="l00054"></a>00054 <span class="preprocessor">#endif</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span>
<a name="l00056"></a>00056 <span class="comment">/************************** PRIVATE FUNCTIONS *************************/</span>
<a name="l00057"></a>00057 
<a name="l00058"></a>00058 <span class="keywordtype">void</span> <a class="code" href="_servo_ctrl_8c.html#a722d97fdabdf6a349b0ad02c82da1d23" title="TIMER32_1 interrupt handler sub-routine.">TIMER32_1_IRQHandler</a>(<span class="keywordtype">void</span>);
<a name="l00059"></a>00059 <span class="keywordtype">void</span> <a class="code" href="_servo_ctrl_8c.html#ac1ebe6246e84e79a998a62a6cb921387" title="set up TIMER32_1 parameters and IRQ">initServoCtrl</a>(<span class="keywordtype">void</span>);
<a name="l00060"></a>00060 uint8_t <a class="code" href="_servo_ctrl_8c.html#a83b604c1849bad9f51471a1864733974" title="add servo channel description">setServo</a>(uint8_t index, <span class="keyword">struct</span> <a class="code" href="struct_servo__t.html" title="Servo_t specifies port and pulse length for a single servo output.">Servo_t</a> servo);
<a name="l00061"></a>00061 
<a name="l00062"></a>00062 <span class="preprocessor">#endif </span><span class="comment">/* SERVOCTRL_H_ */</span>
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